version: 66.04
glider: 512
mission: 1
dive: 681
start: 2 10 111 19 26 12
data:
$ID,512
$MISSION,1
$DIVE,681
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,740
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,208
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20675.783
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2875
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2625
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3160
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,191034,2247.964,-15752.605,14,2.2,34,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.1
$GPS2,192519,2248.099,-15752.569,12,1.6,18,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.220,-0.131
$KALMAN_X,-202093.6,-157.6,50.5,233960.0,1077.3
$KALMAN_Y,-541098.6,-176.5,-435.0,667345.3,3951.2
$MHEAD_RNG_PITCHd_Wd,229.2,9160,-16.9,-9.615
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.85,-146.0,0.0,0.0,0,72,0.00,0.00,-52.88,0.000,2,0.000,0.000,37,2760,3126
$GC,76,-0.85,-146.0,3.3,-4.4,7,109,10.48,2.20,-11.90,0.000,4,0.217,0.039,2599,1297,3758
$GC,119,-0.85,-146.0,19.9,-35.6,12,127,0.00,2.30,0.00,0.000,6,0.000,0.057,2591,2691,3758
$GC,388,-0.85,-146.0,92.6,-25.2,39,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2691,3760
$GC,653,-0.85,-146.0,154.4,-19.6,64,657,0.00,2.05,0.00,0.000,4,0.000,0.026,2591,1287,3761
$GC,700,-0.85,-146.0,163.4,-16.2,68,704,0.00,2.35,0.00,0.000,6,0.000,0.072,2589,2702,3761
$GC,960,-0.85,-146.0,207.9,-16.6,89,964,0.00,2.10,0.00,0.000,4,0.000,0.028,2589,1289,3762
$GC,978,-0.85,-146.0,211.1,-16.6,89,982,0.00,2.30,0.00,0.000,6,0.000,0.063,2589,2702,3762
$GC,1252,-0.85,-146.0,252.8,-15.1,96,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2702,3762
$GC,1495,-0.85,-146.0,285.9,-13.1,102,1499,0.00,1.98,0.00,0.000,4,0.000,0.071,2586,3889,3762
$GC,1518,-0.85,-146.0,288.9,-12.3,102,1521,0.00,1.73,0.00,0.000,6,0.000,0.025,2586,2692,3762
$GC,1786,-0.85,-146.0,320.8,-12.3,109,1790,0.00,2.03,0.00,0.000,4,0.000,0.029,2586,1305,3762
$GC,1848,-0.85,-146.0,328.3,-11.0,110,1852,0.00,2.28,0.00,0.000,6,0.000,0.063,2577,2706,3762
$GC,2122,-0.85,-146.0,365.3,-13.9,117,2125,0.00,1.95,0.00,0.000,4,0.000,0.073,2568,3892,3761
$GC,2169,-0.85,-146.0,371.3,-12.0,118,2173,0.12,1.73,0.00,0.000,6,0.137,0.025,2601,2704,3760
$GC,2459,-0.85,-146.0,397.8,-8.8,125,2463,0.00,2.05,0.00,0.000,4,0.000,0.029,2612,1302,3759
$GC,2499,-0.85,-146.0,401.3,-7.2,125,2506,0.00,2.28,0.00,0.000,6,0.000,0.060,2606,2694,3758
$GC,2751,-0.85,-146.0,423.8,-9.3,132,2755,0.00,1.98,0.00,0.000,4,0.000,0.071,2597,3880,3756
$GC,2798,-0.85,-146.0,428.4,-9.5,133,2802,0.00,1.75,0.00,0.000,6,0.000,0.027,2597,2698,3756
$GC,3088,-0.85,-146.0,456.8,-9.7,140,3092,0.00,2.08,0.00,0.000,4,0.000,0.031,2598,1293,3754
$GC,3139,-0.85,-146.0,461.7,-8.3,141,3144,0.00,2.28,0.00,0.000,6,0.000,0.058,2593,2705,3754
$GC,3419,-0.85,-146.0,489.9,-10.3,148,3423,0.00,1.98,0.00,0.000,4,0.000,0.071,2583,3893,3752
$GC,3436,-0.85,-146.0,492.1,-10.4,148,3440,0.00,1.75,0.00,0.000,6,0.000,0.028,2583,2694,3751
$GC,3710,-0.85,-146.0,520.1,-10.2,155,3713,0.00,2.05,0.00,0.000,4,0.000,0.031,2583,1308,3749
$GC,3745,-0.85,-146.0,523.7,-9.4,155,3749,0.00,2.28,0.00,0.000,6,0.000,0.062,2577,2699,3750
$GC,3996,-0.85,-146.0,548.6,-9.9,161,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2699,3748
$GC,4241,-0.85,-146.0,572.9,-10.0,167,4244,0.00,2.00,0.00,0.000,4,0.000,0.079,2576,3889,3746
$GC,4275,-0.85,-146.0,576.8,-10.2,167,4279,0.00,1.77,0.00,0.000,6,0.000,0.028,2576,2701,3746
$STATE,4527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4527,begin apogee
$GC,4537,-0.32,0.0,603.8,10.8,174,4664,0.60,0.00,123.55,1.095,6,0.117,0.000,2765,2628,3160
$STATE,4664,end apogee,CONTROL_FINISHED_OK
$STATE,4664,begin climb
$GC,4668,0.85,146.0,610.9,0.0,177,4805,1.08,2.17,129.82,1.086,4,0.067,0.064,3147,3893,2563
$GC,4990,0.85,146.0,594.9,17.0,184,4993,0.00,1.90,0.00,0.000,6,0.000,0.031,3157,2642,2557
$GC,5259,0.85,146.0,552.0,15.9,191,5262,0.00,2.03,0.00,0.000,4,0.000,0.058,3150,3895,2553
$GC,5467,0.85,146.0,518.6,15.0,195,5470,0.00,1.92,0.00,0.000,6,0.000,0.030,3158,2606,2551
$GC,5729,0.85,146.0,485.5,12.0,202,5733,0.00,2.08,0.00,0.000,4,0.000,0.035,3169,1226,2549
$GC,5847,0.85,146.0,472.8,11.0,204,5851,0.00,2.22,0.00,0.000,6,0.000,0.052,3163,2624,2548
$GC,6105,0.85,146.0,444.9,10.9,211,6109,0.00,2.12,0.00,0.000,4,0.000,0.034,3172,1217,2546
$GC,6134,0.85,146.0,441.9,9.9,211,6138,0.00,2.22,0.00,0.000,6,0.000,0.049,3163,2627,2546
$GC,6390,0.85,146.0,416.5,10.0,218,6394,0.00,2.03,0.00,0.000,4,0.000,0.059,3162,3896,2545
$GC,6419,0.85,146.0,413.3,11.4,218,6422,0.00,1.90,0.00,0.000,6,0.000,0.028,3171,2612,2545
$GC,6681,0.85,146.0,387.0,9.9,225,6685,0.00,2.08,0.00,0.000,4,0.000,0.057,3163,3903,2544
$GC,6940,0.85,146.0,359.6,10.2,230,6944,0.00,1.90,0.00,0.000,6,0.000,0.031,3171,2630,2543
$GC,7197,0.88,164.6,336.9,8.8,237,7223,0.00,2.05,16.08,0.821,4,0.000,0.052,3163,3897,2489
$GC,7476,0.88,164.6,304.3,11.7,243,7480,0.00,1.90,0.00,0.000,6,0.000,0.029,3171,2619,2487
$GC,7750,0.90,184.3,278.0,8.7,250,7774,0.00,2.10,19.02,0.889,4,0.000,0.055,3163,3884,2407
$GC,8029,0.90,184.3,237.1,15.6,256,8032,0.00,1.88,0.00,0.000,6,0.000,0.028,3171,2618,2405
$GC,8308,0.90,184.3,201.2,12.3,263,8312,0.00,2.05,0.00,0.000,4,0.000,0.053,3171,3896,2402
$GC,8492,0.90,184.3,175.4,12.4,276,8496,0.00,1.88,0.00,0.000,6,0.000,0.027,3180,2621,2402
$GC,8763,0.90,184.3,143.6,11.5,301,8767,0.00,2.03,0.00,0.000,4,0.000,0.049,3177,3896,2402
$GC,8779,0.90,184.3,141.9,11.0,302,8782,0.00,1.88,0.00,0.000,6,0.000,0.026,3184,2617,2402
$GC,9049,0.95,220.9,120.2,8.0,327,9087,0.00,2.15,32.45,0.767,4,0.000,0.027,3195,1213,2258
$GC,9339,0.95,220.9,79.4,15.0,352,9348,0.00,2.25,0.00,0.000,6,0.000,0.043,3192,2623,2254
$GC,9604,0.95,220.9,45.2,14.4,377,9608,0.00,2.08,0.00,0.000,4,0.000,0.026,3200,1203,2253
$GC,9857,0.95,220.9,8.9,13.7,413,9865,0.00,2.25,0.00,0.000,6,0.000,0.044,3201,2630,2254
$STATE,9903,end climb,SURFACE_DEPTH_REACHED
$STATE,9903,begin surface coast
$FINISH,0.3,1.023827
$STATE,9925,end surface coast,CONTROL_FINISHED_OK
$STATE,9926,begin surface
$SM_CCo,9948,75.40,0.673,0,0,1733,350.04
$SM_GC,1.91,0.00,0.00,75.40,0.000,0.000,0.673,48,2748,1733,-8.83,1.36,350.04
$IRIDIUM_FIX,2241.69,-15759.32,060500,191932
$TT8_MAMPS,0.023777
$HUMID,1803
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.5,90.108
$10V_AH,10.7,50.217
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.625,98.400,320.925,75.400,0.000,53.037,86.631,539.793,0.250,0.000,0.000,18.276,935.515,6756.391,440.226,1766.949,1016.484,33.367,1187.637,0.000,1746.529,0.000,0.543,0.000
$DEVICE_MAMPS,217.061,139.594,1094.509,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,287.942,638.606,659.135,142.921,587.396,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35221,425
$CAP_FILE_SIZE,92796,0
$CFSIZE,260165632,235003904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,100211,221437,2247.660,-15753.188,37,0.9,37,10.1